Door opening early warning processing method, electronic equipment and computer program product

Abstract

The invention provides a door opening early warning processing method, an electronic device and a computer program product, according to the door opening early warning processing method provided by the invention, an overlapping region between a preset radar sensing edge region of a radar device at a vehicle and a preset surrounding region of a vehicle door opening early warning region can be used as a preset risk region; and taking the condition that the number of times of target filtering processing on the radar target driving away from the preset risk area according to the preset target filtering mode does not reach the first threshold value as a preset condition, so that after the preset door opening early warning triggering condition of the vehicle is met, if the radar target in the area behind the side of the vehicle is detected, the radar target in the area behind the side of the vehicle is detected. If the vehicle door opening early-warning target exists in the vehicle door opening early-warning area and the radar target meets the preset condition, door opening early-warning targets which are located in the vehicle door opening early-warning area and have the continuous survival period number reaching a second threshold value can be recognized from the radar target according to a preset target filtering mode, and early-warning processing is carried out on the door opening early-warning targets.

Description

Technical Field

[0001] The present invention relates to the field of radar technology, and in particular to a door opening warning processing method, electronic equipment and computer program product. Background Art

[0002] Since radar equipment has superior detection performance and performs well in environments such as night, rainy days, and foggy days, and can better identify surrounding static and dynamic targets, people have gradually begun to install radar equipment on vehicles to detect and track various targets in the vehicle's surrounding environment. At present, some vehicles have begun to implement the door open warning (DOW) function based on radar target detection technology. By issuing an early warning when it is identified that the radar target is about to overtake on the side of the vehicle, it prevents the driver and passengers of the vehicle from colliding with the radar target coming from behind when opening the door, which is beneficial to ensure the safety of the user's riding process. However, during the implementation of the door open warning function, the door open warning may be erroneously issued at the vehicle due to the poor reliability of the identified radar target, thereby affecting the accuracy and effectiveness of the door open warning function. Summary of the invention

[0003] Based on this, the present invention provides a door opening warning processing method, an electronic device and a computer program product. By adopting the door opening warning processing method, low-quality or poorly reliable door opening warning targets can be effectively filtered out, which is beneficial to improving the accuracy and effectiveness of the door opening warning function, and further improving the user experience.

[0004] In one aspect, the present invention provides a door opening warning processing method, the method comprising:

[0005] After a preset door opening warning trigger condition at the vehicle is met, target information of a radar target obtained by performing radar target detection on a side rear area of ​​the vehicle is obtained;

[0006] Based on the target information of the radar target, it is determined whether a preset condition for performing target filtering processing on the radar target according to a preset target filtering method is met to obtain a first judgment result; wherein the preset condition includes: the number of times the radar target that has left a preset risk area is filtered according to the preset target filtering method does not reach a first threshold; the preset risk area is an overlapping area between a preset radar perception edge area and a preset surrounding area of ​​a vehicle door opening warning area;

[0007] If the first judgment result indicates that the preset condition is met, judging whether the number of continuous survival cycles of the radar target reaches a second threshold according to the preset target filtering method, and obtaining a second judgment result;

[0008] Based on the second judgment result, warning processing is performed on the door opening warning target of the vehicle among the radar targets; wherein the door opening warning target includes the radar target whose continuous survival cycle number in the door opening warning area of ​​the vehicle reaches the second threshold.

[0009] Furthermore, in some embodiments, the acquiring target information of the radar target obtained by performing radar target detection on the side rear area of ​​the vehicle includes:

[0010] Acquire the position information of the radar target obtained by performing radar target detection on the side and rear area of ​​the vehicle;

[0011] The determining, based on the target information of the radar target, whether a preset condition for performing target filtering processing on the radar target in a preset target filtering manner is met includes:

[0012] Based on the position information of the radar target, determining whether the radar target is located outside the preset risk area to obtain a third determination result;

[0013] If the third judgment result indicates that the radar target is outside the preset risk area, it is determined whether the number of times the radar target that has left the preset risk area is filtered according to the preset target filtering method does not reach a first threshold.

[0014] Further, in some embodiments, the determining whether the number of times the radar target that has left the preset risk area is filtered according to the preset target filtering method does not reach a first threshold includes:

[0015] Determine whether the value of the counter for recording the number of remaining filtering cycles corresponding to the radar target is 0; or,

[0016] Determining whether a parameter value of a target parameter of the radar target is a preset value reflecting that the number of remaining filtering cycles corresponding to the radar target is 0;

[0017] The remaining number of filtering cycles is the difference between the first threshold and the number of times the radar target that has left the preset risk area is filtered according to the preset target filtering method.

[0018] Further, in some implementations, after determining whether the value of the counter for recording the number of remaining filtering cycles corresponding to the radar target is 0, the method further includes:

[0019] If the value of the counter is not 0, subtract 1 from the value of the counter;

[0020] After determining whether the parameter value of the target parameter of the radar target is a preset value reflecting that the number of remaining filtering cycles corresponding to the radar target is 0, the method further includes:

[0021] If the parameter value of the target parameter of the radar target is not a preset value reflecting that the number of remaining filter cycles corresponding to the radar target is 0, subtract 1 from the number of remaining filter cycles corresponding to the radar target to obtain an updated number of remaining filter cycles corresponding to the radar target;

[0022] Determine whether the number of remaining filtering cycles after updating corresponding to the radar target is 0, and obtain a fourth determination result;

[0023] If the fourth judgment result indicates that the number of remaining filtering cycles corresponding to the radar target after updating is 0, the parameter value of the target parameter of the radar target is set to a preset value reflecting that the number of remaining filtering cycles corresponding to the radar target is 0.

[0024] Further, in some embodiments, after determining whether the radar target is located outside the preset risk area based on the position information of the radar target and obtaining the third judgment result, the method further includes:

[0025] If the third judgment result indicates that the radar target is located within the preset risk area, setting the value of the counter for recording the number of remaining filtering cycles corresponding to the radar target to the first threshold; and / or,

[0026] The parameter value of the target parameter of the radar target is set to a target value reflecting that the number of remaining filtering cycles corresponding to the radar target is not zero.

[0027] Further, in some embodiments, after determining whether the radar target is located outside the preset risk area based on the position information of the radar target and obtaining the third judgment result, the method further includes:

[0028] If the third judgment result indicates that the radar target is located within the preset risk area, then determining whether the number of continuous survival cycles of the radar target reaches the first threshold to obtain a fifth judgment result;

[0029] If the fifth judgment result indicates that the number of continuous survival cycles of the radar target does not reach the first threshold, it is determined that the radar target does not belong to the door opening warning target of the vehicle.

[0030] Furthermore, in some embodiments, the acquiring the position information of the radar target obtained by performing radar target detection on the side rear area of ​​the vehicle includes:

[0031] Acquire the horizontal coordinate data and the vertical coordinate data of the radar target in a preset coordinate system; wherein the origin of the preset coordinate system is the position of the radar device that detects the radar target, the vertical axis of the preset coordinate system is parallel to the vehicle centerline of the vehicle, and the horizontal axis of the preset coordinate system is perpendicular to the vehicle centerline of the vehicle;

[0032] The determining, based on the position information of the radar target, whether the radar target is located outside the preset risk area includes:

[0033] Determine whether the quotient of the ordinate data and the abscissa data is outside the preset slope range corresponding to the preset radar perception edge area, or the ordinate data is outside the ordinate range corresponding to the preset surrounding area of ​​the vehicle door opening warning area, or the abscissa data is outside the abscissa range corresponding to the preset surrounding area of ​​the vehicle door opening warning area.

[0034] Further, in some embodiments, the radar device includes: at least one of a millimeter-wave radar device mounted at the left rear corner of the vehicle and a millimeter-wave radar device mounted at the right rear corner of the vehicle.

[0035] Furthermore, in some embodiments, the acquiring target information of the radar target obtained by performing radar target detection on the side rear area of ​​the vehicle further includes:

[0036] Acquiring preset parameter data of the radar target;

[0037] Before determining whether a preset condition for performing target filtering processing on the radar target in a preset target filtering manner is met, the method further includes:

[0038] According to the preset parameter data of the radar target, determining whether the radar target is a high-quality door opening warning target to be selected, and obtaining a sixth determination result;

[0039] The determining whether a preset condition for performing target filtering processing on the radar target in a preset target filtering manner is met includes:

[0040] If the sixth judgment result indicates that the radar target is a high-quality door opening warning target to be selected, it is determined whether the preset conditions for performing target filtering processing on the radar target according to the preset target filtering method are met.

[0041] Further, in some implementations, the obtaining of preset parameter data of the radar target includes:

[0042] Acquire first parameter data reflecting the probability that the radar target is a real target, second parameter data reflecting the probability that the radar target is a preset obstacle, and third parameter data reflecting the probability that the radar target is in motion;

[0043] The determining whether the radar target is a high-quality target to be selected for door opening warning comprises:

[0044] It is determined whether the first parameter data reaches a third threshold, the second parameter data reaches a fourth threshold, and the third parameter data reaches a fifth threshold.

[0045] Further, in some embodiments, the determining whether the first parameter data reaches a third threshold, the second parameter data reaches a fourth threshold, and the third parameter data reaches a fifth threshold further includes:

[0046] If the first parameter data does not reach the third threshold, and / or the second parameter data does not reach the fourth threshold, and / or the third parameter data does not reach the fifth threshold, it is determined that the radar target does not belong to the door opening warning target of the vehicle.

[0047] On the other hand, the present invention further provides an electronic device, comprising: a processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the above method.

[0048] Furthermore, in some embodiments, the electronic device includes: at least one of a domain controller and a radar device.

[0049] On the other hand, the present invention further provides a computer program product having at least one instruction stored thereon, wherein the at least one instruction implements the steps of the above method when executed by a controller.

[0050] According to the door opening warning processing method provided by the present invention, the overlapping area between the preset radar sensing edge area of ​​the radar device at the vehicle and the preset surrounding area of ​​the vehicle door opening warning area can be used as a preset risk area, and the number of times that the radar target that has left the preset risk area is subjected to target filtering processing according to the preset target filtering method does not reach a first threshold is used as a preset condition. Therefore, after the preset door opening warning trigger condition at the vehicle is met, if a radar target in the side rear area of ​​the vehicle is detected and the radar target meets the above preset condition, the preset target filtering method can be used to identify the door opening warning target located in the vehicle door opening warning area and whose continuous survival cycle number reaches a second threshold from the radar targets, so as to perform warning processing on the door opening warning target, thereby effectively filtering out door opening warning targets of low quality or poor reliability, which is beneficial to improving the accuracy and effectiveness of the door opening warning function, and thus improving the user experience.

[0051] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A schematic diagram of a door opening warning scenario provided by an embodiment of the present invention;

[0053] Figure 2 A schematic diagram of a process flow of a door opening warning processing method provided by an embodiment of the present invention;

[0054] Figure 3 A schematic diagram of a preset risk area provided by an embodiment of the present invention;

[0055] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0057] In the description of one or more embodiments of the present invention, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0058] At present, when performing radar target detection on the surrounding environment of a vehicle, multiple radar reflection points are often detected for the same target object. The characteristics of each radar reflection point are analyzed and classified to cluster the radar reflection points belonging to the same target object, thereby creating a radar target based on the radar reflection points belonging to the same target object. However, when the target object has just entered the perception range of the radar device, due to the lack of relevant historical information about the target object, the moving direction of the target object cannot be accurately determined. Therefore, multiple radar targets with different running directions will be created for this target object; subsequently, after tracking multiple radar targets corresponding to this target object for a period of time, the false radar targets corresponding to this target object can be accurately identified and deleted, and the real radar targets that match the actual situation of this target object are retained. However, the false radar targets established in the above process may be selected as the vehicle's door opening warning target, thereby erroneously triggering the vehicle's door opening warning function.

[0059] For ease of understanding, Figure 1 A schematic diagram of a door opening warning scenario provided by an embodiment of the present invention. Figure 1 As shown, it is assumed that a radar device 102 is installed at the left rear of the vehicle 101, and the radar device 102 may have a sensing area 103, and the left side of the vehicle 101 may have a door opening warning area 104. When the target object travels from right to left and enters the sensing area 103 of the radar device 102, a radar target 105 traveling from right to left and a radar target 106 traveling from bottom to top can be created according to the multiple reflection points of the target object detected by the radar device 102. Subsequently, as the target object continues to move, the radar target 106 may enter the door opening warning area 104 of the vehicle 101, thereby triggering the door opening warning function of the vehicle 101 to issue a warning. However, since it will be verified later that the radar target 106 is a false radar target, the radar target 106 should not actually be used as a door opening warning target. The early behavior of issuing a door opening warning for the radar target 106 is a false warning behavior, thereby affecting the accuracy and effectiveness of the door opening warning function at the vehicle.

[0060] Based on this, the present invention proposes a door opening warning processing method, which can use the overlapping area between the preset radar sensing edge area of ​​the radar device at the vehicle and the preset surrounding area of ​​the vehicle door opening warning area as a preset risk area, and use the number of times that the radar target that has left the preset risk area is subjected to target filtering processing according to the preset target filtering method does not reach a first threshold as a preset condition, so that after the preset door opening warning trigger condition at the vehicle is met, if a radar target in the side rear area of ​​the vehicle is detected and the radar target meets the above preset condition, the preset target filtering method can be used to identify the door opening warning target located in the vehicle door opening warning area and whose continuous survival cycle number reaches the second threshold from the radar targets, so as to perform warning processing on the door opening warning target, thereby effectively filtering out door opening warning targets of low quality or poor reliability, which is beneficial to improving the accuracy and effectiveness of the door opening warning function, and thus improving the user experience.

[0061] See also Figure 2 , which is a flow chart of a door opening warning processing method provided by an embodiment of the present invention. From a program perspective, the execution subject of the process may be a program for performing door opening warning processing. Alternatively, the execution subject of the process may also be a radar device or other device (for example, a vehicle equipped with a radar device or a domain controller at a vehicle, etc.) equipped with a program for performing door opening warning processing, and no specific limitation is made to this.

[0062] The following is for Figure 2 The process shown in the figure is described in detail, and the door opening warning processing method may specifically include the following steps:

[0063] Step S202, after the preset door opening warning triggering condition at the vehicle is met, the target information of the radar target obtained by performing radar target detection on the side rear area of ​​the vehicle is obtained.

[0064] In an embodiment of the present invention, the door open warning function (DOW) may refer to a function of issuing a warning for a target approaching the vehicle if a sensor is used to detect that a non-stationary target appears on the side and rear of the vehicle and is approaching the vehicle when the vehicle is stationary or at a low speed. This function can effectively reduce the risk of a collision between a driver or passenger of the vehicle and other objects when opening the door.

[0065] Based on this, the radar equipment can be used in advance to collect data for the side and rear area of ​​the vehicle, so as to perform radar target detection on the collected radar perception data, thereby obtaining the target information of each radar target in the side and rear area of ​​the vehicle. So that after the preset door opening warning trigger condition at the vehicle is met, the target information of the radar target in the side and rear area of ​​the vehicle can be obtained, and then the door opening warning target of the vehicle can be screened out from the above radar targets. In practical applications, the target information of the radar target may include but is not limited to: the unique identification information of the radar target, related attribute information, preset parameter information, etc.; the preset door opening warning trigger condition may include but is not limited to: the speed of the vehicle is less than the preset value, the vehicle is in the power-on state, etc.; there is no specific limitation on this.

[0066] Step S204, based on the target information of the radar target, determine whether the preset conditions for performing target filtering processing on the radar target according to the preset target filtering method are met, and obtain a first judgment result; wherein the preset conditions include: the number of times the radar target that has left the preset risk area is filtered according to the preset target filtering method does not reach a first threshold; the preset risk area is an overlapping area between a preset radar perception edge area and a preset surrounding area of ​​a vehicle door opening warning area.

[0067] In an embodiment of the present invention, when a target object just enters the sensing range of the radar device, it may be impossible to accurately determine the moving direction of the target object due to the lack of relevant historical information of the target object, so that the reliability of the radar target created for this target object may be poor. In addition, as the radar target continues to move, the radar target with poor reliability may enter the vehicle door opening warning area, thereby erroneously triggering the vehicle's door opening warning function for warning. Therefore, in order to avoid such radar targets with poor reliability from interfering with the normal operation of the door opening warning function, it is possible to filter such radar targets with poor reliability according to a preset target filtering method (for example, when the number of continuous survival cycles of the radar target does not reach the second threshold, it is determined that the radar target does not belong to the vehicle's door opening warning target method) within several radar target detection cycles, which is conducive to filtering out low-quality or poorly reliable door opening warning targets.

[0068] In actual applications, since it takes a short time for a radar target to travel from a radar sensing edge area closer to the vehicle door opening warning area to the vehicle door opening warning area, it is often impossible to obtain sufficient historical data for these radar targets, which makes the reliability of these radar targets poor and easily triggers the door opening warning tool to issue a warning by mistake, so it is necessary to perform target filtering processing on them according to the preset target filtering method. In addition, in order to reduce the number of unnecessary target filtering processing for each radar target according to the preset target filtering method, the preset risk area composed of the overlapping area between the preset radar sensing edge area of ​​the radar device carried by the vehicle for realizing the door opening warning function and the preset surrounding area of ​​the vehicle door opening warning area can be pre-determined according to actual needs. If the radar target leaves the preset risk area, the radar target can be subjected to target filtering processing according to the preset target filtering method within the radar target detection cycle of the latest first threshold number to effectively filter out radar targets with poor reliability.

[0069] Based on this, after detecting the radar target existing in the rear area of ​​the vehicle, it can be determined whether the number of target filtering processes for the radar target that has left the preset risk area according to the preset target filtering method has not reached the first threshold. If so, the radar target can continue to be filtered according to the preset target filtering method; if not, it can be determined whether the radar target belongs to the vehicle's door opening warning target according to other strategies. Among them, the first threshold can be set according to actual needs, for example, it can be 5, 10, etc., and there is no specific limitation on this.

[0070] Step S206: If the first judgment result indicates that the preset condition is met, then according to the preset target filtering method, it is determined whether the number of continuous survival cycles of the radar target reaches a second threshold to obtain a second judgment result.

[0071] In the embodiment of the present invention, the radar device can usually periodically detect and track the target object in the surrounding environment. Based on this, the number of continuous survival cycles of the radar target can refer to the number of cycles in which the radar target is successfully detected and tracked.

[0072] Since when the number of continuous survival cycles of the radar target is small, it can usually mean that it is impossible to accurately identify the running direction, location and whether the radar target is a false target of the radar target, so it can be prohibited to set the radar target as a door opening warning target, which is conducive to improving the accuracy and effectiveness of the door opening warning function. On this basis, the preset target filtering method can be made as follows: when it is identified that the number of continuous survival cycles of the radar target does not reach the second threshold, it is prohibited to set the radar target as a door opening warning target. Among them, the second threshold can be set according to actual needs, for example, it can be 5, 10, 15, etc., and there is no specific limitation on this.

[0073] Step S208, based on the second judgment result, warning processing is performed on the door opening warning target of the vehicle in the radar target; wherein the door opening warning target includes the radar target whose continuous survival cycle number in the vehicle door opening warning area reaches the second threshold.

[0074] In an embodiment of the present invention, if the second judgment result indicates that the number of continuous survival cycles of the radar target has not reached the second threshold, it may generally mean that sufficient relevant data has not been collected for the radar target, resulting in poor reliability of the radar target. Therefore, it is possible to directly determine that the radar target does not belong to the door opening warning target of the vehicle to avoid the radar target from mistakenly triggering the door opening warning function of the vehicle, which is beneficial to improving the accuracy and effectiveness of the door opening warning function, and further improving the user experience.

[0075] If the second judgment result indicates that the number of continuous survival cycles of the radar target reaches a second threshold, then when it is determined that the radar target is located in the vehicle door opening warning area, it can be determined that the radar target is the door opening warning target of the vehicle. Alternatively, other strategies can be combined (for example, whether the angle between the driving direction of the radar target and the vehicle centerline is less than a threshold, etc.) to finally decide whether the radar target is the door opening warning target of the vehicle, which is conducive to avoiding missing effective door opening warning targets.

[0076] In the embodiment of the present invention, by performing warning processing on the door opening warning target among the radar targets and prohibiting the door opening warning processing on other radar targets, the warning effectiveness and accuracy of the door opening warning function at the vehicle can be improved, thereby improving the user experience. In practical applications, there are many ways to implement the warning processing for the door opening warning target, for example, it can be implemented by lighting up the vehicle indicator light, playing a prompt sound in the car, generating vibration at the vehicle seat or the on-board screen, etc., and no specific limitation is made to this.

[0077] In a feasible implementation manner, the acquiring target information of the radar target obtained by performing radar target detection on the side rear area of ​​the vehicle may include:

[0078] The position information of the radar target obtained by performing radar target detection on the side and rear area of ​​the vehicle is obtained.

[0079] Correspondingly, judging whether a preset condition for performing target filtering processing on the radar target in a preset target filtering manner is satisfied based on the target information of the radar target may include:

[0080] Based on the position information of the radar target, it is determined whether the radar target is located outside the preset risk area to obtain a third determination result.

[0081] If the third judgment result indicates that the radar target is outside the preset risk area, it is determined whether the number of times the radar target that has left the preset risk area is filtered according to the preset target filtering method does not reach a first threshold.

[0082] In the embodiment of the present invention, since the preset condition involves the parameter "the number of times the radar target that has left the preset risk area is subjected to target filtering according to the preset target filtering method", it is only meaningful to judge whether the preset condition is not satisfied after the radar target has left the preset risk area, which is conducive to ensuring the normal operation of the scheme. When the radar target is within the preset risk area, it is not applicable to judge whether the preset condition is satisfied. Therefore, it is not necessary to perform the step of judging whether the preset condition is satisfied, which is conducive to saving computing resources.

[0083] In a feasible implementation manner, the determining whether the number of times the radar target that has left the preset risk area is filtered according to the preset target filtering method does not reach a first threshold may include:

[0084] Determine whether the value of the counter for recording the number of remaining filtering cycles corresponding to the radar target is 0; or,

[0085] It is determined whether a parameter value of a target parameter of the radar target is a preset value reflecting that the number of remaining filtering cycles corresponding to the radar target is 0.

[0086] The remaining number of filtering cycles is the difference between the first threshold and the number of times the radar target that has left the preset risk area is filtered according to the preset target filtering method.

[0087] In the embodiment of this specification, a corresponding counter can be configured for the radar target; if the radar target is identified as being within the preset risk area, the value of the counter can be set to a first threshold; if the radar target is identified as having left the preset risk area, then within each radar target detection cycle, each time the radar target is subjected to target filtering processing according to the preset target filtering method, the value of the counter can be reduced by 1, so that the value of the counter can reflect the number of remaining filtering cycles corresponding to the radar target. It is then possible to conveniently determine whether the number of times the radar target that has left the preset risk area is subjected to target filtering processing according to the preset target filtering method has not reached the first threshold based on the value of the counter.

[0088] Alternatively, according to actual conditions, when the number of target filtering processes performed on the radar target that has left the preset risk area according to the preset target filtering method does not reach the first threshold, the parameter value of the target parameter of the radar target is set to a target value reflecting that the number of remaining filtering cycles corresponding to the radar target is not 0; and when the number of target filtering processes performed on the radar target that has left the preset risk area according to the preset target filtering method reaches the first threshold, the parameter value of the target parameter of the radar target is set to a preset value reflecting that the number of remaining filtering cycles corresponding to the radar target is 0. In order to accurately determine whether the number of target filtering processes performed on the radar target that has left the preset risk area according to the preset target filtering method does not reach the first threshold according to the parameter value of the target parameter of the radar target.

[0089] On this basis, in a feasible implementation manner, after determining whether the value of the counter for recording the number of remaining filtering cycles corresponding to the radar target is 0, the following steps may also be included:

[0090] If the value of the counter is not 0, the value of the counter is reduced by 1.

[0091] In the embodiments of the present specification, after determining that the value of the counter for recording the number of remaining filtering cycles corresponding to the radar target is not 0, the operation of "determining whether the number of continuous survival cycles of the radar target reaches a second threshold to determine whether the radar target does not belong to the door opening warning target of the vehicle" is usually performed once according to a preset target filtering method. Therefore, the value of the counter for recording the number of remaining filtering cycles corresponding to the radar target can be subtracted by 1, which is beneficial to ensuring the accuracy of the number of remaining filtering cycles corresponding to the radar target obtained from the counter in the next radar target detection cycle.

[0092] In a feasible implementation manner, after determining whether the parameter value of the target parameter of the radar target is a preset value reflecting that the number of remaining filtering cycles corresponding to the radar target is 0, the following may also be included:

[0093] If the parameter value of the target parameter of the radar target is not a preset value reflecting that the number of remaining filtering cycles corresponding to the radar target is 0, the number of remaining filtering cycles corresponding to the radar target is subtracted by 1 to obtain the updated number of remaining filtering cycles corresponding to the radar target.

[0094] It is determined whether the number of remaining filtering cycles after updating corresponding to the radar target is 0, and a fourth determination result is obtained.

[0095] If the fourth judgment result indicates that the number of remaining filtering cycles corresponding to the radar target after updating is 0, the parameter value of the target parameter of the radar target is set to a preset value reflecting that the number of remaining filtering cycles corresponding to the radar target is 0.

[0096] If the fourth judgment result indicates that the number of remaining filtering cycles after the update corresponding to the radar target is not 0, the process may jump to the end.

[0097] In the embodiments of the present specification, after determining that the parameter value of the target parameter of the radar target is not the preset value reflecting that the number of remaining filtering cycles corresponding to the radar target is 0, the operation of "determining whether the number of continuous survival cycles of the radar target reaches a first threshold to determine whether the radar target does not belong to the door opening warning target of the vehicle" is usually performed once according to the preset target filtering method. Therefore, the number of remaining filtering cycles corresponding to the radar target can be reduced by 1, and the parameter value of the target parameter of the radar target can be set according to whether the updated number of remaining filtering cycles is 0, which is beneficial to ensuring the accuracy of the parameter value of the target parameter of the radar target acquired in the next radar target detection cycle.

[0098] In a feasible implementation manner, judging whether the radar target is located outside the preset risk area based on the position information of the radar target, after obtaining the third judgment result, may further include:

[0099] If the third judgment result indicates that the radar target is located within the preset risk area, setting the value of the counter for recording the number of remaining filtering cycles corresponding to the radar target to the first threshold; and / or,

[0100] The parameter value of the target parameter of the radar target is set to a target value reflecting that the number of remaining filtering cycles corresponding to the radar target is not zero.

[0101] In the embodiments of the present specification, after identifying that a radar target has entered a preset risk area, a corresponding counter and parameter values ​​of target parameters can be set for it, so that after the radar target leaves the preset risk area, the radar target can continue to be filtered according to the preset target filtering method within the most recent first threshold number of radar target detection cycles, which is beneficial to improving the accurate operation of the door opening warning function.

[0102] In a feasible implementation manner, judging whether the radar target is located outside the preset risk area based on the position information of the radar target, after obtaining the third judgment result, may further include:

[0103] If the third judgment result indicates that the radar target is located within the preset risk area, it is determined whether the number of continuous survival cycles of the radar target reaches the first threshold to obtain a fifth judgment result.

[0104] If the fifth judgment result indicates that the number of continuous survival cycles of the radar target does not reach the first threshold, it is determined that the radar target does not belong to the door opening warning target of the vehicle.

[0105] If the fifth judgment result indicates that the number of continuous survival cycles of the radar target reaches the first threshold, it is allowed to decide whether the radar target belongs to the door opening warning target of the vehicle according to other strategies.

[0106] In the embodiments of this specification, if the number of continuous survival cycles of the radar target within the preset risk area is also small, the reliability of the radar target is generally low. Therefore, according to the above preset target filtering method, it can also be determined that the radar target within the preset risk area whose number of continuous survival cycles does not reach the first threshold does not belong to the vehicle's door opening warning target. If the number of continuous survival cycles of the radar target within the preset risk area reaches the first threshold, it can be determined whether the radar target belongs to the vehicle's door opening warning target according to other strategies (for example, whether the radar target is located in the vehicle's door opening warning area, whether the angle between the driving direction of the radar target and the vehicle centerline is less than the threshold, etc.). It can not only filter out low-quality and poorly reliable door opening warning targets, but also avoid missing door opening warning targets with good reliability, which is conducive to improving the accuracy and effectiveness of the door opening warning function.

[0107] In practical applications, if the number of continuous survival cycles of the radar target identified within the preset risk area reaches a first threshold, it can be said that the reliability of the radar target is good. Therefore, the value of the counter used to record the number of remaining filtering cycles corresponding to the radar target can be set to 0, or the parameter value of the target parameter of the radar target can be set to a preset value reflecting that the number of remaining filtering cycles corresponding to the radar target is 0; thus, after the radar target leaves the preset risk area, there is no need to continue to perform target filtering processing on it according to the above-mentioned preset target filtering method, which is conducive to saving computing resources.

[0108] In a feasible implementation manner, the acquiring of the position information of the radar target obtained by performing radar target detection on the side rear area of ​​the vehicle may include:

[0109] Obtain horizontal coordinate data and vertical coordinate data of the radar target in a preset coordinate system; wherein the origin of the preset coordinate system is the position of the radar device that detects the radar target, the vertical axis of the preset coordinate system is parallel to the vehicle centerline of the vehicle, and the horizontal axis of the preset coordinate system is perpendicular to the vehicle centerline of the vehicle.

[0110] The determining, based on the position information of the radar target, whether the radar target is located outside the preset risk area may include:

[0111] Determine whether the quotient of the ordinate data and the abscissa data is outside the preset slope range corresponding to the preset radar perception edge area, or the ordinate data is outside the ordinate range corresponding to the preset surrounding area of ​​the vehicle door opening warning area, or the abscissa data is outside the abscissa range corresponding to the preset surrounding area of ​​the vehicle door opening warning area.

[0112] In an embodiment of the present invention, since the preset risk area is obtained by overlapping two areas, namely, a preset radar sensing edge area of ​​the radar device and a preset surrounding area of ​​the vehicle door opening warning area, it is possible to separately identify whether the radar target is located in both the preset radar sensing edge area and the preset surrounding area of ​​the vehicle door opening warning area. If so, it can be determined that the radar target is located within the preset risk area; otherwise, it can be determined that the radar target is located outside the preset risk area, which is convenient and quick.

[0113] In an embodiment of the present invention, the perception area of ​​the radar device can generally be a fan-shaped area with the location of the radar device as the center of the circle (i.e., the center point) in a Cartesian coordinate system; and the preset radar perception edge area corresponding to the radar device may include: a position within the above-mentioned fan-shaped area where the angle between the line connecting the center of the circle and the fan-shaped boundary is within a preset angle range.

[0114] Since when the position of the radar device is used as the origin of the preset coordinate system (e.g., Cartesian coordinate system), the slope of the line between each position in the preset radar perception edge area and the origin (i.e., the quotient of the ordinate and the abscissa of the position) can be within the preset slope range. Based on this, the abscissa data and the ordinate data of the radar target in the preset coordinate system with the position of the radar device that detects the radar target as the origin can be obtained; if the quotient of the ordinate data and the abscissa data is within the preset slope range corresponding to the preset radar perception edge area, it can be determined that the radar target is currently located within the preset radar perception edge area, which is convenient and quick.

[0115] In practical applications, it is also preferred to make the longitudinal axis of the preset coordinate system parallel to the vehicle centerline of the vehicle equipped with the above-mentioned radar device (i.e., a straight line passing through the center point of the vehicle and parallel to the line connecting the center points of the front and rear wheels on the left side), and to make the transverse axis of the preset coordinate system perpendicular to the vehicle centerline of the vehicle. Of course, the longitudinal axis and transverse axis of the preset coordinate system can also be set in other ways, and there is no specific limitation on this.

[0116] In an embodiment of the present invention, the preset surrounding area of ​​the vehicle door opening warning area can generally be a rectangular area around the area that can trigger the door opening warning function. At this time, the four sides of the preset surrounding area of ​​the vehicle door opening warning area can be parallel to the horizontal axis or the vertical axis of the preset coordinate system. Therefore, the vertical coordinate range and the horizontal coordinate range of the preset surrounding area of ​​the vehicle door opening warning area in the preset coordinate system can be determined first. If the vertical coordinate data of the radar target is within the vertical coordinate range corresponding to the preset surrounding area of ​​the vehicle door opening warning area, and the horizontal coordinate data is within the horizontal coordinate range corresponding to the preset surrounding area of ​​the vehicle door opening warning area, it can be indicated that the radar target is located within the preset surrounding area of ​​the vehicle door opening warning area, which is convenient and quick. Of course, the preset surrounding area of ​​the vehicle door opening warning area can also be an irregular shape, and there is no specific limitation on this.

[0117] In practical applications, if the position information of the radar target obtained by radar target detection is the horizontal and vertical coordinate data in other coordinate systems (for example, a coordinate system with the center point of the rear axle of the vehicle as the origin, the center line of the vehicle as the vertical axis, and the straight line perpendicular to the center line of the vehicle as the horizontal axis), the vertical coordinate range and horizontal coordinate range of the preset surrounding area of ​​the vehicle door opening warning area in the other coordinate system can also be predetermined. Based on the same principle, it is judged whether the radar target is located in the preset surrounding area of ​​the vehicle door opening warning area, which has good flexibility and is not specifically limited.

[0118] In a feasible implementation, the radar device may include: at least one of a millimeter-wave radar device mounted at a left rear corner of the vehicle and a millimeter-wave radar device mounted at a right rear corner of the vehicle.

[0119] Since there are differences in the perception areas of the millimeter-wave radar device at the left rear corner of the vehicle and the millimeter-wave radar device at the right rear corner of the vehicle, and there are also differences in the door opening warning areas involved in the door opening warning based on the above two radar devices, there are often differences in the preset risk areas used to determine whether the radar targets detected by the above two radar devices do not belong to the door opening warning targets.

[0120] For ease of understanding, Figure 3 A schematic diagram of a preset risk area provided by an embodiment of the present invention. Figure 3 As shown, it is assumed that a millimeter-wave radar device 302 is installed at the left rear corner of the vehicle 301, and the millimeter-wave radar device 302 may have a radar sensing area 303; the fan-shaped area divided by the dotted line 305 and the dotted line 306 in the radar sensing area 303 may be a preset radar sensing edge area of ​​the millimeter-wave radar device 302; the overlapping area between the preset radar sensing edge area and the preset surrounding area 307 of the vehicle door opening warning area of ​​the vehicle 301 (i.e., the diagonal line filled area) may be a preset risk area 304 of the radar target detected by the millimeter-wave radar device 302.

[0121] In actual applications, when the position of the millimeter wave radar device 302 is used as the origin of the preset coordinate system, and the longitudinal axis of the preset coordinate system is parallel to the vehicle centerline 308 of the vehicle 301, and the positive direction is from the rear of the vehicle to the front of the vehicle, and the horizontal axis of the preset coordinate system is perpendicular to the vehicle centerline 308 of the vehicle 301, and the positive direction is from left to right, the preset slope range corresponding to the preset radar perception edge area of ​​the millimeter wave radar device 302 may include but is not limited to [-∞, first preset value], [second preset value, ∞], wherein the first preset value may be the slope of the dotted line 306, and the second preset value may be the slope of the dotted line 305, and no specific limitation is made to this.

[0122] In practical applications, the horizontal coordinate range of the preset surrounding area 307 of the vehicle door opening warning area of ​​the vehicle 301 can be [third preset value, fourth preset value], wherein the third preset value can be 0, 1 meter, etc., and the fourth preset value can be 3, 5, 6.5 meters, etc.; and / or, the third preset value can be -10, -8 meters, etc., and the fourth preset value can be -5, -3 meters, etc. The vertical coordinate range corresponding to the preset surrounding area 307 can be [fifth preset value, sixth preset value], wherein the fifth preset value can be 0, -1 meter, etc., and the sixth preset value can be 10, 20 meters, etc. There is no specific limitation on this.

[0123] Since the radar sensing area, preset radar sensing edge area, corresponding vehicle door opening warning area on the right side of the vehicle, and the preset surrounding area of ​​the vehicle door opening warning area of ​​the millimeter-wave radar device installed at the right rear corner of the vehicle, and the radar sensing area, preset radar sensing edge area, corresponding vehicle door opening warning area on the right side of the vehicle, and the preset surrounding area of ​​the vehicle door opening warning area of ​​the millimeter-wave radar device installed at the left rear corner of the vehicle can often be mirror-symmetrical based on the vehicle centerline of the vehicle, therefore, based on similar principles, the preset risk area corresponding to the radar target detected by the millimeter-wave radar device installed at the right rear corner of the vehicle can be determined, which will not be elaborated on.

[0124] In a feasible implementation manner, the acquiring target information of the radar target obtained by performing radar target detection on the side rear area of ​​the vehicle may also include: acquiring preset parameter data of the radar target.

[0125] Correspondingly, before determining whether a preset condition for performing target filtering processing on the radar target in a preset target filtering manner is met, the following steps may also be included:

[0126] According to the preset parameter data of the radar target, it is judged whether the radar target is a high-quality door opening warning target to be selected, and a sixth judgment result is obtained.

[0127] Correspondingly, the determining whether the preset condition for performing target filtering processing on the radar target according to the preset target filtering method is met may include:

[0128] If the sixth judgment result indicates that the radar target is a high-quality door opening warning target to be selected, it is determined whether the preset conditions for performing target filtering processing on the radar target according to the preset target filtering method are met.

[0129] In the embodiment of the present invention, radar targets such as gantries, manhole covers, large buildings, etc. are usually not selected as door opening warning targets, and the preset parameter data that partially reflects the relevant operating status and category of the radar target can usually be obtained through radar target detection. Therefore, it is possible to identify whether the radar target belongs to a high-quality door opening warning target to be selected (i.e., a radar target that meets the basic conditions required for the door opening warning target to be met) in advance based on the basic conditions required for the door opening warning target to be met and the preset parameter data of the radar target.

[0130] If the radar target does not belong to the high-quality candidate door opening warning target, it can be directly determined that the radar target does not belong to the vehicle's door opening warning target, so there is no need to further determine whether the number of continuous survival cycles of the radar target reaches the second threshold, which can not only ensure the accurate operation of the door opening warning function, but also reduce resource consumption. Figure 2 The scheme and implementation examples in the present invention are used to decide whether to prohibit the radar target from being used as a door opening warning target, which is also conducive to ensuring the accurate operation of the door opening warning function.

[0131] In a feasible implementation manner, the obtaining of preset parameter data of the radar target may include:

[0132] First parameter data reflecting the probability that the radar target is a real target, second parameter data reflecting the probability that the radar target is a preset obstacle, and third parameter data reflecting the probability that the radar target is in motion are obtained.

[0133] Correspondingly, the determining whether the radar target is a high-quality target to be selected for door opening warning may include:

[0134] It is determined whether the first parameter data reaches a third threshold, the second parameter data reaches a fourth threshold, and the third parameter data reaches a fifth threshold.

[0135] In an embodiment of the present invention, since the first parameter data reflecting the probability that the radar target belongs to a real target is larger, it can usually indicate that the possibility that the radar target belongs to a false target with poor reliability is smaller. At this time, the risk of allowing the radar target to be selected as a door opening warning target is often smaller; and, the value of the second parameter data reflecting the probability that the radar target belongs to a preset obstacle (for example, pedestrians, cars, etc., which can be used as obstacles for door opening warning targets) is larger, it can usually indicate that the category attribute of the radar target is clearer. At this time, the risk of allowing the radar target to be selected as a door opening warning target is often smaller; and, the value of the third parameter data reflecting the probability that the radar target is in a moving state is larger, it can usually indicate that the radar target is not in a stationary state, and thus the possibility of colliding with the door opened by the driver and passenger at the vehicle is greater. At this time, the risk of allowing the radar target to be selected as a door opening warning target is often smaller. Therefore, based on the above-mentioned first parameter data to the third parameter data of the radar target, it can be judged whether the radar target belongs to a high-quality door opening warning target to be selected.

[0136] In practical applications, it is also possible to determine whether the radar target is a high-quality target for door opening warning based on any one or two of the first to third parameter data. Also, the values ​​of the third to fifth thresholds can also be set according to actual needs. No specific limitation is made to this.

[0137] In a feasible implementation manner, the determining whether the first parameter data reaches the third threshold, the second parameter data reaches the fourth threshold, and the third parameter data reaches the fifth threshold may further include:

[0138] If the first parameter data does not reach the third threshold, and / or the second parameter data does not reach the fourth threshold, and / or the third parameter data does not reach the fifth threshold, it is determined that the radar target does not belong to the door opening warning target of the vehicle.

[0139] In an embodiment of the present invention, since when the first parameter data does not reach the third threshold, and / or the second parameter data does not reach the fourth threshold, and / or the third parameter data does not reach the fifth threshold, it can be indicated that the radar target does not belong to the high-quality door opening warning target to be selected. Therefore, it can be directly determined that the radar target does not belong to the door opening warning target of the vehicle, which is beneficial to saving computing resources on the basis of effectively filtering out low-quality or poorly reliable door opening warning targets.

[0140] The present invention also provides a computer program product on which at least one instruction is stored. When the at least one instruction is executed by a controller, the steps of the above-mentioned door opening warning processing method can be implemented.

[0141] In one embodiment, the present invention also provides Figure 4 The structural diagram of the electronic device shown in FIG. Figure 4 At the hardware level, the electronic device may include a processor 41 and a memory 45, and may also include an internal bus 42, a network interface 43, a memory 44, and other hardware required for other services. The processor 41 may read the corresponding computer-readable instructions from the memory 45 into the memory and then run them to implement the above-mentioned door opening warning processing method. The specific execution process can refer to the specific descriptions in the above-mentioned embodiments, which will not be repeated here.

[0142] In some feasible implementations, the electronic device may include: at least one of a domain controller and a radar device.

[0143] Finally, each embodiment of the present invention is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for embodiments such as electronic devices and computer program products, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0144] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A door opening warning processing method, comprising: After a preset door opening warning trigger condition at the vehicle is met, target information of a radar target obtained by performing radar target detection on a side rear area of ​​the vehicle is obtained; Based on the target information of the radar target, it is determined whether a preset condition for performing target filtering processing on the radar target according to a preset target filtering method is met to obtain a first judgment result; wherein the preset condition includes: the number of times the radar target that has left a preset risk area is filtered according to the preset target filtering method does not reach a first threshold; the preset risk area is an overlapping area between a preset radar perception edge area and a preset surrounding area of ​​a vehicle door opening warning area; If the first judgment result indicates that the preset condition is met, judging whether the number of continuous survival cycles of the radar target reaches a second threshold according to the preset target filtering method, and obtaining a second judgment result; Based on the second judgment result, warning processing is performed on the door opening warning target of the vehicle among the radar targets; wherein the door opening warning target includes the radar target whose continuous survival cycle number in the door opening warning area of ​​the vehicle reaches the second threshold.

2. According to the method of claim 1, the step of acquiring target information of a radar target obtained by performing radar target detection on a side rear area of ​​the vehicle comprises: Acquire the position information of the radar target obtained by performing radar target detection on the side and rear area of ​​the vehicle; The determining, based on the target information of the radar target, whether a preset condition for performing target filtering processing on the radar target in a preset target filtering manner is met includes: Based on the position information of the radar target, determining whether the radar target is located outside the preset risk area to obtain a third determination result; If the third judgment result indicates that the radar target is outside the preset risk area, it is determined whether the number of times the radar target that has left the preset risk area is filtered according to the preset target filtering method does not reach a first threshold.

3. The method according to claim 2, wherein the determining whether the number of times the radar target that has left the preset risk area is subjected to target filtering processing according to the preset target filtering mode does not reach a first threshold comprises: Determine whether the value of the counter used to record the number of remaining filtering cycles corresponding to the radar target is 0; or, Determining whether a parameter value of a target parameter of the radar target is a preset value reflecting that the number of remaining filtering cycles corresponding to the radar target is 0; The remaining number of filtering cycles is the difference between the first threshold and the number of times the radar target that has left the preset risk area is filtered according to the preset target filtering method.

4. The method according to claim 3, after determining whether the value of the counter for recording the number of remaining filtering cycles corresponding to the radar target is 0, further comprising: If the value of the counter is not 0, subtract 1 from the value of the counter; After determining whether the parameter value of the target parameter of the radar target is a preset value reflecting that the number of remaining filtering cycles corresponding to the radar target is 0, the method further includes: If the parameter value of the target parameter of the radar target is not a preset value reflecting that the number of remaining filter cycles corresponding to the radar target is 0, subtract 1 from the number of remaining filter cycles corresponding to the radar target to obtain an updated number of remaining filter cycles corresponding to the radar target; Determine whether the number of remaining filtering cycles after updating corresponding to the radar target is 0, and obtain a fourth determination result; If the fourth judgment result indicates that the number of remaining filtering cycles corresponding to the radar target after updating is 0, the parameter value of the target parameter of the radar target is set to a preset value reflecting that the number of remaining filtering cycles corresponding to the radar target is 0.

5. The method according to claim 3, wherein after determining whether the radar target is located outside the preset risk area based on the position information of the radar target, and obtaining the third judgment result, the method further comprises: If the third judgment result indicates that the radar target is located within the preset risk area, setting the value of the counter for recording the number of remaining filtering cycles corresponding to the radar target to the first threshold; and / or, The parameter value of the target parameter of the radar target is set to a target value reflecting that the number of remaining filtering cycles corresponding to the radar target is not zero.

6. The method according to claim 2, wherein after determining whether the radar target is located outside the preset risk area based on the position information of the radar target, and obtaining a third judgment result, the method further comprises: If the third judgment result indicates that the radar target is located within the preset risk area, then determining whether the number of continuous survival cycles of the radar target reaches the first threshold to obtain a fifth judgment result; If the fifth judgment result indicates that the number of continuous survival cycles of the radar target does not reach the first threshold, it is determined that the radar target does not belong to the door opening warning target of the vehicle.

7. The method according to claim 2, wherein the step of obtaining the position information of the radar target obtained by performing radar target detection on the side and rear area of ​​the vehicle comprises: Acquire the horizontal coordinate data and the vertical coordinate data of the radar target in a preset coordinate system; wherein the origin of the preset coordinate system is the position of the radar device that detects the radar target, the vertical axis of the preset coordinate system is parallel to the vehicle centerline of the vehicle, and the horizontal axis of the preset coordinate system is perpendicular to the vehicle centerline of the vehicle; The determining, based on the position information of the radar target, whether the radar target is located outside the preset risk area includes: Determine whether the quotient of the ordinate data and the abscissa data is outside the preset slope range corresponding to the preset radar perception edge area, or the ordinate data is outside the ordinate range corresponding to the preset surrounding area of ​​the vehicle door opening warning area, or the abscissa data is outside the abscissa range corresponding to the preset surrounding area of ​​the vehicle door opening warning area.

8. The method according to claim 7, wherein the radar device comprises: At least one of a millimeter wave radar device mounted at the left rear corner of the vehicle and a millimeter wave radar device mounted at the right rear corner of the vehicle.

9. The method according to claim 1, wherein the step of acquiring target information of radar targets obtained by performing radar target detection on the side rear area of ​​the vehicle further comprises: Acquiring preset parameter data of the radar target; Before determining whether a preset condition for performing target filtering processing on the radar target in a preset target filtering manner is met, the method further includes: According to the preset parameter data of the radar target, determining whether the radar target is a high-quality door opening warning target to be selected, and obtaining a sixth determination result; The determining whether a preset condition for performing target filtering processing on the radar target in a preset target filtering manner is met includes: If the sixth judgment result indicates that the radar target is a high-quality door opening warning target to be selected, it is determined whether the preset conditions for performing target filtering processing on the radar target according to the preset target filtering method are met.

10. The method according to claim 9, wherein the step of obtaining the preset parameter data of the radar target comprises: Acquire first parameter data reflecting the probability that the radar target is a real target, second parameter data reflecting the probability that the radar target is a preset obstacle, and third parameter data reflecting the probability that the radar target is in motion; The determining whether the radar target is a high-quality target to be selected for door opening warning comprises: It is determined whether the first parameter data reaches a third threshold, the second parameter data reaches a fourth threshold, and the third parameter data reaches a fifth threshold.

11. The method according to claim 10, wherein after the determining whether the first parameter data reaches the third threshold, the second parameter data reaches the fourth threshold and the third parameter data reaches the fifth threshold, further comprises: If the first parameter data does not reach the third threshold, and / or the second parameter data does not reach the fourth threshold, and / or the third parameter data does not reach the fifth threshold, it is determined that the radar target does not belong to the door opening warning target of the vehicle.

12. An electronic device comprising: A processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the method as claimed in any one of claims 1 to 11.

13. The electronic device according to claim 12, comprising: At least one of a domain controller and a radar device.

14. A computer program product having at least one instruction stored thereon, wherein when the at least one instruction is executed by a controller, the steps of the method according to any one of claims 1 to 11 are implemented.

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